I just re-did the brakes on my 2013 Accord (how on earth I got 78k miles on the factory pads on all four corners still bewilders me, but that's a different story).
At each corner, before pushing the pistons back, I used my vacuum bleeder to pull fluid until it ran clear. This way, I KNOW that when I push the pistons back, I'm not forcing any **** into the system that may hurt my ABS. And that's the biggest reason for flushing more frequently than in the past. ABS/ASR/TCS/ESP systems are sensitive to debris in the fluid, and are VERY expensive to repair. A quart of insurance every few years is a cheap price to pay.
As for how I flush, that depends on the job. I've found that vacuum flushing, particularly in the rear, isn't aggressive enough to force all the bubbles out of a system where new components were installed. But vacuum flushing is super convenient when you're just changing fluid.